EtherCAT:EC SLAVE SET HOMING PARAMETERS
Set homing parameters in a certain slave
Input
Generic axis, Parameter number, Parameter's new value
Output
None
Return Value
Void
Declaration
public sub EC_SLAVE_SET_HOMING_PARAMETERS(ax as generic axis, byval paramNum as long, byval paramVal as long)
Limitations
Available parameters' numbers and their ranges are as follows:
1 - HOMING_METHOD [1 to 36]
2 - HOMING_OFFSET ....
3 - FAST_HOMING_SPEED [0 to 4294967295]
4 - SLOW_HOMING_SPEED [0 to 4294967295]
5 - HOMING_ACCELERATION/DECELERATION [0 to 4294967295]
For further details about homing please refer to the documentation CDHD_CANopen_for_CAN_and_EtherCAT_Drives_Rev2 0 v5.pdf
Examples
call EC_SLAVE_SET_HOMING_PARAMETERS(ax1, HOMING_METHOD, 34)
call EC_SLAVE_SET_HOMING_PARAMETERS(ax1, HOMING_OFFSET, 4)
call EC_SLAVE_SET_HOMING_PARAMETERS(ax1, FAST_HOMING_SPEED, 2083334)
call EC_SLAVE_SET_HOMING_PARAMETERS(ax1, SLOW_HOMING_SPEED, 416668)
call EC_SLAVE_SET_HOMING_PARAMETERS(ax1, HOMING_ACCELERATION, 16666664)